4 research outputs found
Identification and Validation of a Fractional Order Dynamic Model for a Piezoelectric Tactile Sensor
This paper presents the identification of a piezoelectric tactile sensor which aims to give the sense of touch to humanoid robots. The sensor has been characterized in frequency domain and the low frequency behavior reveals a non-integer behavior. A simple model based on the a priori knowledge of the sensor and the observation of the frequency response has been hypothesized and a least squares method has been applied to identify the device. The impulse response has been calculated using the Mittag-Leffler function and validation in time domain has been performed. Simulation and experimental results are in good agreement showing that the identified model, despite its simplicity, is able to represent properly the tactile sensor
Identification and Validation of a Fractional Order Dynamic Model for a Piezoelectric Tactile Sensor
none4This paper presents the identification of a piezoelectric tactile sensor which aims to give the sense of touch to humanoid robots. The sensor has been characterized in frequency domain and the low frequency behavior reveals a non-integer behavior. A simple model based on the a priori knowledge of the sensor and the observation of the frequency response has been hypothesized and a least squares method has been applied to identify the device. The impulse response has been calculated using the Mittag-Leffler function and validation in time domain has been performed. Simulation and experimental results are in good agreement showing that the identified model, despite its simplicity, is able to represent properly the tactile sensor.noneD. CATTIN; OBOE R.; R. S. DAHIYA; M. VALLED., Cattin; Oboe, Roberto; R. S., Dahiya; M., Vall
Identification and Validation of a Fractional Order Dynamic Model for a Piezoelectric Tactile Sensor
This paper presents the identification of a
piezoelectric tactile sensor which aims to give the sense of touch to
humanoid robots. The sensor has been characterized in frequency
domain and the low frequency behavior reveals a non-integer
behavior. A simple model based on the a priori knowledge of the
sensor and the observation of the frequency response has been
hypothesized and a least squares method has been applied to
identify the device. The impulse response has been calculated
using the Mittag-Leffler function and validation in time domain
has been performed. Simulation and experimental results are in
good agreement showing that the identified model, despite its
simplicity, is able to represent properly the tactile sensor